Adaptive PID Controller for Dc Motor Speed Control
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1 Inrnonl ournl of Engnrng Invnon ISSN: , Volu 1, Iu 5 Sr01 : 6-30 Av ID Conrollr for Dc oor S Conrol A.Tfour Al 1, E Bhr. T n Or Bu lzn oh 3 1, School of Elcrcl n Nuclr Engnrng; Collg of Engnrng; Sun nvr of Scnc &Tchnolog; SDAN 3.Sc. School of Elcrcl n Nuclr Engnrng Arc Th nvgon concrn wh h ol rfrnc v ID conrol RAIDC. Incororng rl xc DC oor, ujc o uncrn nclung rr vron n nurng ou ffcnc. Th o fn furhr rfcon for RAC ho n o rov n vn or ooh conrol o h DC oor n o nz fcnc of h ronl RAC ho. Th xn whn conng h RAC ho wh h ID conrol. Th rfornc of h rv on, for of conon wh RAIDC. To chv h ojcv h ulon nvronn rov n h ATAB Sulnk. wor Av ID, ol Rfrnc Av Conrol RAC, ol Rfrnc Av ID Conrol RAIDC, DC oor S Conrol. I. INTRODCTION Th Drc Currn DC oor hv vrl chrcrc n r u xnvl n vrl- rv. DC oor cn rov hgh rng orqu n lo ol o on conrol ovr w rng. Thr r n v conrol chnqu, ong h h RAC. I rgr n v rvo n whch h r rfornc xr n r of rfrnc ol. ol Rfrnc Av Conrol ho rcng o of h nr u o l couon n no xr rnucr rqur [1-4]. Th ID conrollr h vrl orn funcon; rov fck, h h l o ln off hrough ngrl con, n cn nc h fuur hrough rvv con. ID conrollr r h lrg nur of conrollr foun n nur uffcn for olvng n conrol rol [5]. n roch hv n vlo for unng ID conrollr n gng rr for ngl nu ngl ouu SISO. Aong h wll-known roch r h Zglr-Nchol Z-N ho, h Cohn-Coon C-C ho, ngrl of qur wgh rror rul ISTE, ngrl of olu rror crr IAE, nrnl-ol-conrol IC ho, gn-h rgn ho [6-14]. Av conrol u o chng h conrol lgorh coffcn n rl o con for vron n nvronn or n h lf. Th r l wh h ol rfrnc v conrol roch RAC [15-18]. In whch h ouu ron forc o rck h ron of rfrnc ol rrcv of ln rr vron. II. SSTE DESCRITION AND ODEIN Whn h ln rr n h urnc r vrng lowl or lowr hn h nc hvor of h ln, hn RAC conrol cn u. Th ol rfrnc v conrol ch hown n fgur 1. Th jun chn u h jul rr known conrol rr o ju h conrollr rr [4]. Th rckng rror n h on lw for h conrollr rr wr rn IT Rul [19]. Rfrnc ol ω rr Ajun chn c Conrollr V DC OTOR ω Fg. 1: Srucur of ol Rfrnc Av Conrol IT chu Inu of Tchnolog Rul h h r of chng of θ rooronl o ngv grn of h co funcon, h : 1 6
2 Av ID Conrollr for Dc oor S Conrol 7 Th on rror. Th coonn of r h nv rvv of h rror wh rc o h jul rr vcor. Th rr γ known h on gn. Th IT rul grn ch h o nz h qur ol rror ε fro co funcon [0]: A. olng of DC oor: Th ln u n ulon rl xc c oor wh nc quon [1]: Tkng lc rnfor of quon 4 n 5, h rnfr funcon of h DC oor wh no lo orqu n uncrn 0 on fro l T = 0: 6 Fr l u conr h c wh onl lo urnc T 0 7 B. ol Rfrnc Av ID Conrol: Th gol of h con o vlo rr on lw for ID conrol lgorh ung IT rul. Th rfrnc ol for h RAC gnr h r rjcor, whch h DC oor h o follow. Snr con orr ffrnl quon w chon h rfrnc ol gvn : 8 Conr lo h v lw of RAC rucur kn h followng for []: 9 Whr;, rooronl gn, ngrl gn, rvv gn n u c un nu. In h lc on, quon 9 cn rnfor o: 10 I ol o how h lng h conrol lw o h gv h followng clo loo rnfr funcon: 11 Al IT grn rul for rnng h vlu of ID conrollr rr, n. Th rckng rror quon 8 f: 1 Th xc forul h r rv ung h IT rul cn no u. In o roxon r rqur. An roxon whch vl whn rr r clo o l vlu follow [3]: Dnonor of ln Dnonor ol rfrnc hn, fro grn ho. 13 Whr ; 1 ] [ 1 B R B R R T R I V T B I ] [ BR B R V 0 1 H u E E C u C 1, 1 u c
3 Thn h rox rr on lw r follow: Av ID Conrollr for Dc oor S Conrol III. SIATION RESTS In h con, o ulon crr ou for RAC Srl Exc DC oor conrollr. l ofwr w u for h ulon of conrol. Fg how Sulk ol for oh RAC long wh h oor unr conrol. Whl Fg.3 how lnon of IT rul o on on gn. Th rr of rl xc DC oor r conr : 0.55 ; R 1 ; H g. ; B 0.08N/ / r. Alo, h con orr rnfr funcon of h ol Rfrnc follow: 16 H 4 16 Th rfrnc ol h 16% xu ovrhoo, lng of or hn wo con n r of ou 0.45 con. In ulon, h conn g wr grou n fv n l 1: Tl 1: rou of Fg. : Sulk ol for RAC Fg. 3: Sulk ol for rooronl Aon n IT rul 8
4 Av ID Conrollr for Dc oor S Conrol Fg. 4: Ouu S for Dffrn rou of Fg. 5: Aon Error for Dffrn rou of Fg. 6: Error, Aon Error n Aon ID n A hown n Fg. 4 for low on gn, h cul h no ocllon u oo uch l, o oor rfornc. Incrng on gn h ouu ron rov owr chng h r vlu of ol rfrnc. Th on rror hown n Fg. 5, whl Fg. 6 ow h rror, on rror n on gn for crn grou of g. A rul h RAIDC chv fcor rfornc. Th rnn rfornc cfcon r hown n l. Th ulon how h RAIDC rqur l nforon of h roc h chv goo rfornc. Tl : Chrcrc Vlu for no o S Scfcon S of R T c Slng T c % x Ovrhoo
5 IV. Av ID Conrollr for Dc oor S Conrol CONCSION Fro h ulon rul, foun h h RAIDC chv fcor rfornc h ouu ron of h DC oor. Th on gn r ronl o rov h rnn rfornc of h ron n r of r, ovrhoo, lng n - for ron. REFERENCES 1. Hn Bulr, r Honr, n o vn Arongn ol Rfrnc Av Conrol of Drc-Drv DC oor IEE Conrol S gzn, 1989, S. Vch, S. Hr,. our n S. urok Hr Conrol- ol Rfrnc Av Conrol lkronk Ir Elkrochnk, Nr Chnkhor, R. ; u, O. S conrol of DC rv ung RAC chnqu n Inrnonl Confrnc on chncl n Elcrcl Tchnolog ICET S 010, ul gh Vllh, nkj Swrnkr, D.. Dhn Corv Anl Of Conrol An ol Rfrnc Av Conrol B Vcor Conrol Srg For Inucon oor Drv IERA Vol., Iu 3, -un 01, E Bhr. T n A. Tfour Al Coron of So Clcl ID n Fuzz ogc Conrollr Acc for ulcon n Inrnonl ournl of Scnfc n Engnrng Rrch; lkl o ulh n Vol 3, Iu 9, Sr 01. ISER - Frnc Zglr n N. B. Nchol, Ou ng for uoc conrollr, Trncon of Arcn Soc of chncl Engnr, 194, Vol H. Cohn n. A. Coon, Thorcl nvgon of rr conrol, Trncon of Arcn Soc of chncl Engnr, 1953, Vol Zhung n D.. Ahron, Auoc unng of ou ID conrollr, IEE rocng on Conrol n Alcon, 1993, Vol D. W. n, A nw look ID-conrollr unng, ournl of Dncl S ur n Conrol, 1994, Vol orr n E. Zfrou "Rou roc Conrol" rnc-hll, Englwoo Clff, 1989, Nw r. 11. W.. Ho, C. C. Hng, n. S. Co, Tunng of ID conrollr on gn n h rgn cfcon, Auoc, 1995, Vol Cono, N. unro. ID Conrollr: Rcn Tunng ho n Dgn o Scfcon. n: IEE rocng, Conrol Thor n Alcon, 00, vol. 149, C.. A Surv of ID Conrollr Dgn on n n h rgn. Inrnonl ournl of Couonl Cognon, 004, 3: nn, B. Hu, R. on. T Don Dgn n Anl of Nw ID Tunng Rul. IEE rocng, Conrol Thor Alcon, 001, 1483: H. Chu, W.. Hw, C.. Oo, C.. Foo n.s. A Corv Anl of I, Fuzz ogc n ANFIS S Conrol of rn gn Snchoronou oor EETROIA: In.. of Elcrcl, Elcronc Engnrng n Tchnolog, 011, Vol. 1, nkj Swrnkr, Shlnr n n R.. N Effc of Aon n n ol Rfrnc Av Conroll Scon Orr S ETASR - Engnrng, Tchnolog & Al Scnc Rrch Vol. 1, _o.3, 011, Bnjlloun, H. chlh, E.. Bouk, A of ol Rfrnc Av Conrol Algorh for DC Srvooor, Scon IEEE Confrnc on Conrol Alcon, Vncouvr, B. C., 1993, Vol., Aro, Bjorn Wnrk Av Conrol, n E. ron Eucon A, 001, Sln Eln Oln n Alxnru orr, "Sulon of h ocl ol Rfrnc Av Conrol of h Roc Ar wh DC oor Drv, r Scnc, 3, A. An, A. Algul, n O. oh Av Conrollr Dgn For DC Drv S ng rn Tchnqu rocng of h n Inrnonl Confrnc on r n Nvl Scnc n Engnrng F-ng n, Fuzz Av ol-followng oon Conrol for lronc oor, IEEE Trncon on owr Elcronc, 1997, Vol Hng-Xong, "Arox ol Rfrnc Av chn for Nonl n Dgn of Fuzz Conrol S", IEEE rncon on. n, n Crnc Soc, 1999, Vol uh Nrun Bn hn, "Drc ol rfrnc v conrol of coul nk lqu lvl conrol ",EETRIA, 008, Vol. 10, No.,
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